THOR-OP humanoid robot for DARPA Robotics Challenge Trials 2013

Author

Seung-Joon Yi ; McGill, Stephen ; Vadakedathu, Larry ; Qin He ; Inyong Ha ; Jeakwon Han ; Hyunjong Song ; Rouleau, Michael ; Hong, Dennis ; Lee, Daniel D.

Author_Institution

RASP Lab., Univ. of Pennsylvania, Philadelphia, PA, USA

fYear

2014

Firstpage

359

Lastpage

363

Abstract

This paper describes the hardware design and motion control algorithms that have been used by Team THOR in the DARPA Robotics Challenge (DRC) Trials 2013 competition. The robotic hardware we use, the THOR-OP robot, consists of standardized and general purpose actuators and structural components, which greatly reduce the build and reconfiguration time and allows for quick field repair capability. Our software framework is also composed of fully modular function modules. This modular structure helps us to keep up easily with hardware changes and to have multiple control options to suit various situations. We validated our approach at the DRC Trials where we fared well against other robots many times more expensive and acquired the finalist status.

Keywords

actuators; humanoid robots; motion control; DARPA robotics challenge trials 2013; THOR-OP humanoid robot; fully modular function modules; general purpose actuators; software framework; structural components; Actuators; Hardware; Joints; Legged locomotion; Software; Trajectory; DARPA Robotic Challenge; Humanoid Robot; Modular Actuator; Modular Software Framework;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on

Type

conf

DOI

10.1109/URAI.2014.7057369

Filename

7057369